PICK AND PLACE ROBOT

ABSTRACT:
The main goal of this project is to present a programming robot-arm system for carrying out flexible pick and place behavior using visual perception. Object manipulation from visual data involves determining the pose of the object with respect to the manipulator. In this module we will be having the stepper motors, which are used for the movement. These robots can be used in the industries. The micro controller with the help of the motor driver circuit will drive the respective circuit and perform the operation

Technology: 8051 controller Embedded c programming Stepper motor Relay interface

COMPONENTS: Power Supply: 5V/12V DC Micro controller: Atmel AT89C52 Stepper motors Opto-couplers Relay

SOFTWARE USED: Embedded C Circuit designing software Keil Uvision2 software

WORKING PRINCIPLE: In this project in the programming part we will be mainly programming for the stepper motors to pick and place. Important part is stepper motor where we will set the direction of the movement, how much it has to move, till where it has to move, these entire thing will be done in the programming which has been burned to the micro controller IC. As soon as the power supply is given to the robot it will start picking the material which is placed near by and it will move for around 90 degrees and it will place the material. This project can be used to transport the materials from one place to another place in industries.

BLOCK DIAGRAM:

Power supply
AT89C51 Microcontroller

RS232

Stepper motors

COMPONENTS DESCRIPTION: Power supply: The micro controller and other devices get power supply from AC to Dc adapter through 7805, 5 volts regulator. The adapter output voltage will be 12V DC non-regulated. The 7805/7812 voltage regulators are used to convert 12 V to 5V/12V DC. The adapter output voltage will be 12V DC non-regulated. The 7805/7812 voltage regulators are used to convert 12 V to 5V/12V DC.
AC Power

AC/DC Adapter

Regulator (7805)

Filter

DC Output

Micro controller-AT89C52: The AT89C52 is a low-power, high-performance CMOS 8-bit micro controller with 8K bytes of in-system programmable Flash memory. The device is manufactured using Atmels high-density nonvolatile memory technology and is compatible with the industry- standard 80C51 instruction set and pin out. Features: 8K Bytes of In-System Programmable (ISP) Flash Memory Endurance: 1000 Write/Erase Cycles 4.0V to 5.5V Operating Range 256 x 8-bit Internal RAM 32 Programmable I/O Lines Full Duplex UART Serial Channel Fully Static Operation: 0 Hz to 33 MHz

STEPPER MOTOR: A stepper motor is a permanent magnet or variable reluctance dc motor that has the following performance characteristics: 1. Rotation in both directions, 2. Precision angular incremental changes, 3. Repetition of accurate motion or velocity profiles, 4. A holding torque at zero speed, and 5. Capability for digital control. A stepper motor can move in accurate angular increments knows as steps in response to the application of digital pulses to an electric drive circuit from a digital controller. The number and rate of the pulses control the position and speed of the motor shaft. Generally, stepper motors are manufactured with steps per revolution of 12, 24, 72, 144, 180, and 200, resulting in shaft increments of 30, 15, 5, 2.5, 2, and 1.8 degrees per step. Stepper motors are either bipolar, requiring two power sources or a switchable polarity power source, or unipolar, requiring only one power source. They are powered by dc current sources and require digital circuitry to produce the coil energizing sequences for rotation of the motor. Feedback is not always required for control, but the use of an encoder or other position sensor can ensure accuracy when it is essential. The advantage of operating without feedback is that a closed loop control system is not required. Generally, stepper motors produce less than 1 horsepower (746W) and are therefore frequently used in low-power position control applications.

APPLICATIONS OF THIS PROJECT: Industries Automation Household

FUTURE ENHANCEMENT: In future we can add control the speed of the device according to the command sent by the control unit a. It can be used to transport the materials from one place to another place in industries through voice indication.